Trailer backup assist system with trajectory planner for multiple waypoints

摘要

A trailer backup assist system, according to one embodiment, includes a state estimator that determines a current position of a trailer relative to a plurality of waypoints. A trajectory planner may then incrementally generate a path from the current position to the plurality of waypoints. The trajectory planner has a first mode that generates first and second circular trajectories tangent to one another connecting between the current position and a waypoint of the plurality of waypoints. A second mode of the trajectory planner generates the second circular trajectory between the current position and the waypoint after the trailer traverses the first circular trajectory. Also, a third mode of the trajectory planner switches to the first operating mode when the trailer reaches the waypoint for guidance to a subsequent waypoint. A curvature controller guides the trailer based on a curvature of the respective first or second circular trajectories.

主权项

1. A trailer backup assist system comprising:
a state estimator determining a current position of a trailer relative to a plurality of waypoints; a trajectory planner for incrementally generating a path from the current position to the plurality of waypoints, comprising:
a first mode generating first and second circular trajectories tangent to one another connecting between the current position and a waypoint of the plurality of waypoints;a second mode generating the second circular trajectory between the current position and the waypoint after the trailer traverses the first circular trajectory; anda third mode switching to the first operating mode when the trailer reaches the waypoint for guidance to a subsequent waypoint of the plurality of waypoints; and a curvature controller guiding the trailer based on a curvature of the respective first or second circular trajectories.